search

ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
25.1k stars 9.69k forks source link

[Question]-Apollo source code build, deployed and test in Hardware environment like Renesas environment #14689

Closed anilbommareddy closed 1 year ago

anilbommareddy commented 1 year ago

Is Apollo source code can build on Ubuntu - deployed and test in Hardware environment like Renesas environment(CPU-multi core) or Imx Processor? example : In Renesas board connected-camera sensors or simulation like Canoe environment + Apollo-build source code- flash binaries to the Renesas board -check the runtime behavior like pedestrian or obstacle detection-may be performance will slow as no usage of GPU-parallel processing ? is it feasible to deployed and test in Hardware environment ?if yes kindly what are steps need to be followed Reference link-https://www.openmp.org/blog/openmp-api-speeds-up-autonomous-driving-codes/

daohu527 commented 1 year ago

This may need to consider hardware compatibility issues. You need to see if the hardware is x86 architecture, if so then consider replacing the GPU

anilbommareddy commented 1 year ago

@daohu527 Initially, the source is written on the CPU side and after execution on the CPU side, profiling and performance wise the code is shifted to the device side like on the GPU side. So I would like to know that the apollo repo i.e source is available for non-Cuda i.e CPU source code, and runs only in the CPU environment

daohu527 commented 1 year ago

except the perception module, other modules will work well. Also you can do inference in cpu, but it will slow.

anilbommareddy commented 1 year ago

@daohu527 Able to build Apollov5 in the CPU environment and launch Dream view. Kindly let me know how to test each modules like planning,localization ,routing as independently by using some test data or Dream view (simulation without using Hardware) .It gives the better understanding on the modules and the dependency's.

PS-I have environment issues in my workstation with Apollov6 and ApolloV7 branches So i checked with ApolloV5-branch. ,

daohu527 commented 1 year ago

In general, you can simulate the input to test these modules, you can check the examples on the official website. https://apollo.baidu.com/community/Apollo-Homepage-Document/Apollo_Doc_CN_8_0